EP3265413B1 - Handling device and method for picking up flat articles - Google Patents

Description

The present invention relates to a handling device for receiving flat objects.

When packaging articles such as beverage containers or the like, these are often placed on a pallet. The individual levels of the pallet are separated from one another by intermediate layers, which can be made of cardboard or corrugated cardboard, for example. Articles of an upper level can therefore stand on an intermediate layer which rests on an adjacent lower level of articles. The intermediate layers provide a stable contact surface for the respective articles. Pallets with such intermediate layers have a very high stability. A high stability of pallets is desired in order to be able to transport them safely without tilting the pallet or without articles slipping.

Devices are already known from practice which separate a respective intermediate layer from a stack or receive a respective intermediate layer and then deposit it on the pallet. For example, the EP 2 476 637 A2 such a device. The device described in the EP patent application has controllable suction grippers which are fixed to elastically deformable cantilever arms. The elastically deformable cantilever arms are mounted on a bridge. A hose connection is assigned to each of the suction grippers, via which a negative pressure can be transmitted to the respective suction grippers in order to temporarily fix an intermediate layer on the suction gripper. If the intermediate layer has been placed on the pallet, the negative pressure can be released so that another intermediate layer can be received by the device.

From the DE 2638152 A1 a device for lifting and pulling off individual sheets from a stack of sheets is also known. The device comprises a suction nozzle, by means of which flat material can be grasped by negative pressure. The DE patent application also provides a valve which is arranged on a bracket. The bracket can be swiveled in order to create and release a negative pressure via the suction nozzles.

In practice, it cannot always be completely ruled out that the hose connections will be damaged, since they have to be guided from the respective pressure or negative pressure generating device to the respective suction gripper. For this reason, devices with such extensive hose connections also have an at least partially complex structure. Also, it cannot always be guaranteed that the individual suction grippers are controlled synchronously. Devices for detecting intermediate layers via negative pressure, which are characterized by a simpler and more compressed structure, would be desirable and by means of which intermediate layers can be recorded safely and easily. In addition, such devices and methods would be desirable, which can be produced simply and inexpensively or implemented simply and inexpensively.

For this reason, an object of the invention can be seen in providing a corresponding device which does not have at least some of these disadvantages.

The above object is achieved by a device which comprises the features of claim 1. Further advantageous configurations are described by the dependent claims.

The invention relates to a handling device for receiving flat objects. The flat objects can be formed by intermediate layers and consist of cardboard or corrugated cardboard. A handling device according to the invention or various embodiments of a handling device according to the invention can, if necessary, separate intermediate layers from a stack and place them on the respective pallet. It can also be the case that the handling device is already provided with individual intermediate layers, the handling device picking up the individual intermediate layer and depositing it in a defined manner on a respective pallet.

The handling device comprises several extension arms, each with at least one suction head for grasping the flat object. In particularly preferred embodiments, at least two suction heads can be assigned to each of the extension arms. It is conceivable, for example, that the handling device has two extension arms. In practice, however, embodiments have proven successful in which the handling device has at least three and in particular four or at least four extension arms, each of which is assigned at least one suction head for grasping the flat object or the intermediate layer via negative pressure.

The handling device also comprises a central flange section, from which the multiple extension arms extend in different directions and which provides a supporting function for the multiple extension arms. The plurality of cantilever arms can be designed to be at least largely rigid and thus each protrude laterally from the central flange section. the Cantilever arms can be formed from plastic and in particular from carbon fiber-reinforced plastic.

The central flange section can be produced, for example, by sintering. The central flange section can preferably be formed from plastic and, according to the invention, is produced using a three-dimensional printing process, with which the central flange section is formed in one piece. Such three-dimensional printing processes are characterized by a fast production of the respective component as well as by low costs and can therefore be used for producing various components of the handling device according to the invention or, if necessary, for producing the entire handling device. The multiple extension arms can thus also be produced by a three-dimensional printing process. For various embodiments, it is also conceivable that the multiple cantilever arms and the central flange section are designed as a one-piece component and are produced by means of a three-dimensional printing process. Furthermore, the at least one suction head can be produced by means of a three-dimensional printing process. The at least one suction head and the respective extension arm can be produced by means of two-component printing. In addition, embodiments are conceivable in which components or the entire handling device are manufactured by injection molding.

The central flange section also has a line system which is fluidically connected to the suction heads in order to transfer a negative pressure to the suction heads of the plurality of cantilever arms. Since the central flange section is designed as a supporting component of the handling device, the construction of the handling device can be kept very compact.

The central flange section can form a housing which completely accommodates the line system. The one or more extension arms can be held by the central flange section by means of a form fit and / or force fit. For example, it can be that the plurality of extension arms are connected to the central flange section via a press fit and / or are held on the central flange section via a respective adhesive connection. In particular, the central flange section can provide a respective anti-rotation device for the one or more extension arms. The respective anti-rotation device can be formed, for example, by a respective form-fitting receptacle of the one or more extension arms on the central flange section.

For particularly preferred embodiments it can also be provided that a suspension designed as a support column is coupled to the central flange section. The support column can be rigidly connected to the central flange section and, if necessary, can be produced by means of a three-dimensional printing process. If the handling device is moved after receiving an intermediate layer, the suspension or support column can carry the mass of the flange section and the multiple extension arms.

It is also conceivable that the multiple extension arms each themselves form a hollow shaft, via which the line system is fluidically connected to the at least one suction head of the respective extension arm for the transmission of the negative pressure. The one or more cantilever arms can thus be designed as a hollow tube. The suction heads can be arranged at corresponding outlets of the hollow tube, which are inserted or positioned in the hollow tube perpendicular to the longitudinal extension of the hollow tube, to which a negative pressure is transmitted to receive the flat object via the outlets of the hollow tube. The hollow tube can be closed at a free distal end or end facing away from the central flange section. In such embodiments, hose connections that are directly coupled to the suction heads can be completely dispensed with. Such embodiments therefore have an additionally simplified structure and are easy to manufacture.

It is also conceivable that the one or more cantilever arms each form at least one area in the respective hollow shaft, within which an opening cross-section is reduced or within which an opening cross-section is designed to be reduced compared to further areas. Thus, one or more cantilever arms can have a throttle. The respective throttle can be designed, for example, as a sheet metal or aluminum sheet with an opening. It is also conceivable that the respective throttle is produced together with the respective extension arm in a three-dimensional printing process. If a suction head loses its contact with the respective intermediate layer, maintenance of the negative pressure on further suction heads can be ensured by means of the throttle or by means of the reduction in cross section.

It can also be the case that the longitudinal axes of at least two extension arms enclose an acute angle with one another. In particular, the handling device can have four extension arms, two extension arms each enclosing an acute angle. However, the invention is not to such Embodiments with four extension arms are limited, so that if necessary three extension arms or more than four extension arms can be provided, each of which is assigned at least one suction head.

Furthermore, the plurality of cantilever arms can be arranged hanging and pointing in the downward direction and / or rising and pointing in the upward direction on the central flange section. If the handling device or the suction heads of the handling device are placed on a respective intermediate layer, the multiple extension arms can yield resiliently in the described arrangement. In particular, such embodiments have proven to be useful if the suction heads each comprise at least one flexible suction bag or suction bellows and / or suction cup, the longitudinal extensions of at least two suction bags being designed differently. Due to the resilient resilience, which can be optimized in particular with a hanging or rising arrangement of the multiple cantilever arms, all of the suction heads can be placed on the respective intermediate layer or on the respective flat object without problems, even with different longitudinal extensions.

In particular, embodiments are conceivable in which first suction bags, which are located further away from the central flange section, compared to second suction bags, which are located closer to the central flange section than the first suction bags, move a lesser amount in the downward direction or in the Z direction protrude from the handling device. For this purpose, the first suction bags themselves can have a smaller longitudinal extension than the second suction bags. In addition, it is conceivable that an intermediate piece is assigned to the second suction bags and their respective extension arm in order to increase the distance or the extension of the second suction bags in the downward direction away from the handling device. Practice has shown that in such embodiments an air wedge can be formed between the intermediate layer, which is received by the handling device, and the intermediate layer stack. The intermediate layer is unrolled on its directly adjacent intermediate layer when it is picked up. Electrostatic adhesion and / or mechanical interlocking of the intermediate layer on adjacent intermediate layers can be eliminated, so that in such embodiments, intermediate layers can be separated from a respective stack without problems.

The handling device can also have at least one touch sensor, by means of which touch sensor an impending surface contact of the Suction heads for the intermediate layer can be recognized. The touch sensor can be designed as a touch rod and protrude in the vertical direction downward from the central flange section of the handling device. In particular, the touch sensor, which may be designed as a feeler rod, can be positioned approximately in the middle between the multiple cantilever arms. The direction of longitudinal extent of the probe rod can be aligned with a direction of longitudinal extent of the support column or run parallel to a direction of longitudinal extent of the support column. It is also conceivable that the handling device has two or more than two touch sensors. If the intermediate layers, which are picked up by the handling device, are designed as half-layers which together provide a level of a pallet, a separate touch sensor or feeler rod can be provided for each of the half-layers.

The touch sensor or touch rod can be connected to a control device. The control device can bring about a build-up or transfer of negative pressure in the line system of the central flange section during and / or after contact of the probe rod with a flat object or with an intermediate layer.

The invention also provides that the central flange section has a connection opening into the line system, with a negative pressure being able to be transmitted jointly to the suction heads of the plurality of cantilever arms via the one connection under operative connection with the line system. Here, a compressed air generating device is coupled to the one connection opening into the line system. For coupling with the compressed air generating device, the handling device can provide a thread in the area of the connection. Since the central flange section can be produced in a three-dimensional printing process, there is the possibility of designing the thread as an integral part of the central flange section. An overpressure introduced into the line system via the connection can build up a negative pressure due to a Venturi effect formed in the line system, which is transmitted from the line system to the suction heads. For example, the overpressure can be between 3 and 5 bar. In order to develop the Venturi effect, the line system can have corresponding cross-sectional constrictions in the area of one or more branches. Accordingly, the line system can comprise one or more Venturi nozzles or one or more ejectors. For example, it can be provided that each of the multiple extension arms and / or each suction head is assigned its own Venturi nozzle or its own ejector, which creates a negative pressure for the respective extension arm or for builds up the respective suction head. If a negative pressure cannot be generated via a venturi nozzle or an ejector due to a malfunction, no negative pressure may be transmitted to the respective suction head. If each boom or suction head is assigned its own Venturi nozzle or its own ejector, the further boom arms or the further suction heads can, however, be supplied with negative pressure, so that the respective intermediate layer can still be picked up via the handling device. By means of a three-dimensional printing principle, such central flange sections can be produced quickly and efficiently even with a high level of complexity.

In further embodiments it is conceivable that a common Venturi nozzle or a common ejector is assigned to several extension arms and here supplies the several extension arms and the suction heads of the several extension arms with negative pressure.

In addition, it is conceivable that the line system is fluidically connected to one or more sound absorbers in order to reduce a noise level when a negative pressure is transmitted to the suction heads. The one or more mufflers can be designed as a one-piece component of the central flange section and, if necessary, can be designed together with the central flange section in a three-dimensional printing process. In particular, the central flange section can form a housing within which the one or more silencers are located. The housing can completely accommodate the one or more mufflers. The silencers can comprise sound-absorbing materials such as wool or the like to absorb a noise level.

It is also conceivable that the central flange section has one or more openings through which compressed air can exit. The one or more mufflers can be arranged in the area of the one or more openings. It is also conceivable for various embodiments that the central flange section has a thread in the area of the respective openings, by means of which thread a silencer can be screwed onto the central flange section in order to reduce a corresponding sound level when compressed air is applied.

Furthermore, one or more silencers can be held removably on the central flange section. The connection between the respective muffler and the central flange section can, for example, be via a force fit and / or form fit and / or material fit, and in this case in particular by means of gluing or bonding. Fusion between the respective muffler and a housing of the central flange section take place. The central flange section can also have a thread which corresponds to a mating thread of a muffler.

As already mentioned above, it is conceivable that the line system for generating the negative pressure by means of the Venturi effect has one or more branches with a respective cross-sectional constriction. A branch of the branch in which the negative pressure is built up can lead the negative pressure in the direction of one or more outlets of the central flange section.

It can also be the case that the central flange section has one or more inlets via which compressed air can be introduced into the line system to remove the negative pressure at the suction heads. A pressure generating device or a compressor can be coupled to the inputs. For this purpose, the central flange section can form a thread in the area of a respective inlet.

A method for receiving flat objects is also disclosed. Features that were previously described for various embodiments of the handling device can also be present in conceivable embodiments of the method described below. In addition, features which are described below for various embodiments of the method can be present in conceivable embodiments of the device according to the invention.

The method is provided for picking up flat objects via a handling device which has several extension arms each with at least one suction head and a central flange section with a line system. The line system is fluidically connected to the suction heads. Starting from the central flange portion, the plurality of extension arms extend in different directions away from the central flange portion, the central flange portion carrying the extension arms. In the context of the method according to the invention, a negative pressure is introduced into the line system or built up in the line system.

An introduction of negative pressure into the line system can be brought about by coupling the central flange section or the line system to a negative pressure generating device. For particularly preferred Embodiments, however, provide that the negative pressure in the line system is built up from an overpressure and by means of the Venturi effect. The overpressure can be introduced into the line system through a corresponding connection. In the area of one or more cross-sectional constrictions of the line system, a negative pressure can be built up by means of the Venturi effect, which is transmitted to the suction heads to detect the respective flat object.

As part of a further step of the method disclosed here, the negative pressure is transmitted from the line system to the suction heads, so that as a result the respective flat object is fixed on the suction heads of the handling device.

Furthermore, after the negative pressure has built up, the compressed air can be fed to one or more silencers to reduce a noise level. The compressed air can pass through the muffler and then emerge from the central flange section or from a housing of the central flange section. For this purpose, one or more openings can be made in the housing of the central flange section, which are arranged downstream of the one or more silencers in the direction of flow of the excess pressure and are connected to the line system.

In order to capture flat objects or intermediate layers as precisely as possible, the negative pressure can be transmitted at least approximately synchronously from the line system to the suction heads. Suction heads of several cantilever arms can be fluidically connected to one another via the line system. Via the fluidic connection between the suction heads, it is possible to transfer an overpressure introduced into the line system or an overpressure built up in the line system to the suction heads at the same time.

It can also be the case that the multiple cantilever arms themselves form a hollow shaft, via which the negative pressure is transmitted from the line system to the suction heads. In this way, the multiple extension arms, which may be designed as hollow tubes, can connect to the line system of the central flange section and apply negative pressure to the suction heads.

• Figur 1 zeigt eine schematische Perspektivansicht einer Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung;
• Figur 2 zeigt eine schematische Draufsicht auf die Ausführungsform einer Handhabungsvorrichtung aus Figur 1;
• Figur 3 zeigt eine schematische Seitenansicht der Ausführungsform einer Handhabungsvorrichtung aus Figur 1;
• Figur 4 zeigt eine schematische Perspektivansicht eines zentralen Flanschabschnittes der Ausführungsform einer Handhabungsvorrichtung gemäß Figuren 1 bis 3;
• Figur 5 zeigt eine schematische Schnittdarstellung des zentralen Flanschabschnittes aus der Ausführungsform gemäß Figuren 1 bis 4;
• Figur 6 zeigt eine schematische Perspektivansicht einer weiteren Ausführungsform einer erfindungsgemäßen Handhabungsvorrichtung;
• Figur 7 zeigt eine schematische Perspektivansicht des zentralen Flanschabschnittes der Ausführungsform aus Figur 6;
• Figur 8 zeigt eine schematische Schnittdarstellung durch den zentralen Flanschabschnitt aus Figur 7;
• Figur 9 zeigt eine Schnittdarstellung durch einen weiteren zentralen Flanschabschnitt, wie er für diverse Ausführungsformen einer erfindungsgemäßen Handhabungsvorrichtung vorgesehen sein kann.

In the following, exemplary embodiments are intended to explain the invention and its advantages in more detail with reference to the accompanying figures. The proportions of the individual elements to one another in the figures do not always correspond to the real proportions, because some shapes are simplified and other shapes are enlarged in relation to other elements for ease of illustration.

• Figure 1 shows a schematic perspective view of an embodiment of a handling device according to the invention;
• Figure 2 FIG. 11 shows a schematic plan view of the embodiment of a handling device from FIG Figure 1 ;
• Figure 3 FIG. 11 shows a schematic side view of the embodiment of a handling device from FIG Figure 1 ;
• Figure 4 FIG. 11 shows a schematic perspective view of a central flange section of the embodiment of a handling device according to FIG Figures 1 to 3 ;
• Figure 5 FIG. 11 shows a schematic sectional illustration of the central flange section from the embodiment according to FIG Figures 1 to 4 ;
• Figure 6 shows a schematic perspective view of a further embodiment of a handling device according to the invention;
• Figure 7 FIG. 13 is a schematic perspective view of the central flange portion of the embodiment of FIG Figure 6 ;
• Figure 8 FIG. 11 shows a schematic sectional illustration through the central flange section from FIG Figure 7 ;
• Figure 9 shows a sectional view through a further central flange section, as it can be provided for various embodiments of a handling device according to the invention.

Identical reference symbols are used for identical or identically acting elements of the invention. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures which are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the invention can be configured and do not represent a final limitation.

Figure 1 shows a schematic perspective view of an embodiment of a handling device 1 according to the invention. The handling device 1 is provided for receiving intermediate layers, which are not shown in the figures of the present patent application and, if necessary, can have two broad side surfaces on opposite sides, which have an essentially rectangular geometry.

The handling device 1 comprises a central flange section 4 and a plurality of extension arms 3, which are designed as essentially rigid hollow tubes 5 and are carried by the central flange section 4. In the exemplary embodiment from Figure 1 the cantilever arms 3 or hollow tubes 5 are each held on the central flange section 4 by means of an adhesive connection.

Two suction heads 6 are arranged on each of the four cantilever arms 3. The suction heads 6 are carried by their respective extension arm 3 or are fixed in a hanging manner on their respective extension arm 3. The central flange section 4 can be produced by means of a three-dimensional printing process and can thus be formed in one piece. Furthermore, the cantilever arms 3 can be produced together with the central flange section 4 in a three-dimensional printing process and can thus be formed in one piece. It is also conceivable that the suction heads 6, the cantilever arms 3 and the central flange section 4 are produced in a three-dimensional printing process and possibly by means of a two-component printing. The longitudinal axes of two cantilever arms 3 or hollow tubes 5 each enclose an acute angle α with one another.

The central flange section 4 has a connection 12 via which the handling device 1 or the central flange section 4 is connected to a device for generating pressure. The central flange section 4 can be pressurized via the connection 12, for example with 3 to 5 bar. The central flange section 4 has a line system 15 (cf. Figure 5 ), via which the central flange section 4 generates a negative pressure from the application of pressure by means of the Venturi effect. Since the extension arms 3 are designed as hollow tubes 5, the negative pressure can be passed on from the line system 15 via the extension arms 3 to the suction heads 6, which thereby absorb the respective intermediate layer by negative pressure. The shaft, which the hollow tubes 5 provide for transferring the negative pressure to the suction heads 6, is in this case aligned with the longitudinal axis of the respective extension arm 3.

Figure 1 also shows two inlets 11 which open into the line system 15. A device for applying pressure or for generating an overpressure in the line system 15 is also connected to the inlets 11. The overpressure introduced into the line system 15 via the inlets 11 can be transmitted to the suction heads 6 via the cantilever arms 3 or hollow tubes 5, in order to remove a fixation of intermediate layers formed by underpressure.

A suspension 7 or support column 9 is rigidly coupled to the central flange section 4. The suspension 7 or support column 9 can be connected to an actuator to move the handling device 1 after detecting an intermediate layer in the direction of a pallet and, if necessary, after placing an intermediate layer on the respective pallet, to guide it back in the direction of another intermediate layer. Thus, when the handling device 1 moves, the suspension 7 or support column 9 carries the mass of the central flange section 4, the cantilever arms 3 and the suction heads 6 arranged on the cantilever arms 3 and possibly the respective intermediate layer fixed to the suction heads 6.

Since various components, such as, for example, the central flange section 4, can be manufactured using the three-dimensional printing process, the handling device 1 can be manufactured inexpensively. By integrating a line system 15 (cf. Figure 5 ) in the central flange section 4 and the transfer of the negative pressure via the cantilever arms 3 designed as hollow tubes 5 to the suction heads 6, hose connections for the direct transfer of the negative pressure to the suction heads 6 can be dispensed with. As a result, the handling device 1 is made compact, with additional costs for manufacturing the handling device 1 being reduced.

Figure 2 FIG. 11 shows a schematic top view of the embodiment of a handling device 1 from FIG Figure 1 . The inlets 11, via which the line system 15 (cf. Figure 5 ) Compressed air can be supplied in order to cancel a fixation of intermediate layers by the suction heads 6. The inlets 11 are introduced into the central flange section 4 on an upper side and can optionally be printed together with the central flange section 4. The number and positioning of the inlets 11 are to be understood here as examples.

Figure 3 shows a schematic side view of the embodiment of a handling device 1 from Figures 1 and 2 . The cantilever arms 3 or hollow tubes 5, which are closed at their free end pointing away from the central flange section 4, are arranged hanging on the central flange section 4. The cantilever arms 3 or hollow tubes 5 point in the direction of a floor surface or in the downward direction. An angle which the cantilever arms 3 or hollow tubes 5 enclose with a horizontal can in each case be between 0 ° and 45 °.

It is also conceivable that the cantilever arms 3 or a respective hollow shaft of the cantilever arms 3 is assigned a throttle that is not shown in the figures. If a suction head 6 of the handling device 1 loses its contact with the intermediate layer, the negative pressure on the other suction heads 6 can thereby be maintained.

Figure 3 also shows a feeler rod 18 of the handling device 1, which comes into contact with the respective intermediate layer before the suction heads 6 and informs a control device not shown in the figures about the contact. Following this, the control device can transmit a negative pressure or the build-up of a negative pressure in the line system 15 (cf. Figure 5 ) cause, whereby the suction heads 6 can accommodate the respective intermediate layer.

In addition, shows Figure 3 the orientation of the feeler rod 18 and the support column 9, the longitudinal axes of which are aligned with one another.

Figure 4 shows a schematic perspective view of a central flange section 4 of the embodiment of a handling device 1 according to FIG Figures 1 to 3 . The central flange section 4 has its own outlet 17 for each of the cantilever arms 3 or hollow tubes 5, of which in FIG Figure 4 two outputs 17 can be seen. The negative pressure is passed on to the cantilever arms 3 via the outlets 17 and transferred to the individual suction heads 6 via the cantilever arms 3.

The inlets 11 have a thread via which the compressed air generating device or the compressor can be coupled to the central flange section 4. By applying overpressure to the central flange section 4 via the inlets 11, the underpressure which may have formed between the suction heads 6 and the respective intermediate layer can be eliminated. The inputs 11 thus lead directly into the line system 15 (cf. Figure 5 ) of the central flange section 4.

Sound absorbers 19 of the central flange section 4 can also be seen, the function of which will be described below. The sound absorbers 19 can be produced as an integral part of the central flange section 4 together with the central flange section 4 by means of a three-dimensional printing process and are located in the area of a respective opening 33 of the central flange section 4 the openings 33 of the central flange section 4 escape. Via the line system 15 (cf. Figure 5 ) a fluidic connection is thus established between the connection 12 and the openings 33.

Figure 5 FIG. 4 shows a schematic sectional illustration of the central flange section 4 from the exemplary embodiment of FIG Figures 1 to 4 . In the section view Figure 5 the line system 15 of the central flange section 4 can be clearly seen. The line system 15 is acted upon with compressed air via the connection 12. Part of the line system 15 are two Venturi nozzles 25, by means of which a negative pressure can be built up from the overpressure introduced into the line system 15 via the connection 12. Furthermore, several branches 16 of the line system 15 can be seen, each of which is assigned an output 17. The negative pressure built up by the Venturi nozzles 25 is passed on to the suction heads 6 via the branches 16 and their outlets 17 in order to fix a flat object or an intermediate layer on the handling device 1. The line system 15 or the Venturi nozzles 25, the branches 16 and the outlets 17 can be produced as an integral part of the central flange section 4 in a three-dimensional printing process.

Figure 5 also shows that the connection 12 has a thread in order to couple a compressed air generating device or a compressor not shown in the figures to the central flange section 4. The thread of the connection 12 can also be printed together with all other components of the central flange section 4. In the direction of flow, the Venturi nozzles 25 are each followed by a connection 21, which connects the compressed air to a respective silencer 19. In particular in the case of embodiments with a high clock frequency, one or more mufflers 19 have proven to be useful in order to keep a sound level low when the line system 15 is pressurized with compressed air. The connections 21 and the silencers 19 can also be an integral part of the central flange section 4 are produced in a three-dimensional printing process. The silencers 19 can be designed as absorption silencers or as reflection silencers.

Figure 6 shows a schematic perspective view of a further embodiment of a handling device 1 according to the invention. Just like the embodiment from FIG Figures 1 to 3 owns the embodiment Figure 6 four extension arms 3 each with two suction heads 6. The suction heads 6 are still held on a central flange section 4. The central flange section 4 has entrances 11 in order to cancel a fixation formed by negative pressure between the drinking heads 6 and an intermediate layer (not shown). Compressed air is introduced into the central flange section 4 via the connection 12. The extension arms 3 are formed by essentially rigid hollow tubes 5 and each point away from the central flange section 4. The mass of the central flange section 4, the cantilever arms 3 or hollow tubes 5, the suction heads 6 and possibly the intermediate layer adhering to the suction heads 6 by means of negative pressure is supported by the suspension 7 designed as a support column 9. A rotationally fixed coupling is provided between the support column 9 and the central flange section 4.

Individual components of the handling device 1 or the entire handling device 1 can also be used in the exemplary embodiment of FIG Figure 6 can be produced by means of a three-dimensional printing process. Alternatively, it is conceivable that the central flange section 4 consists of Figure 6 is formed by sintering. Since the central flange portion 4 according to the embodiment from Figure 6 has a line system 15 (cf. Figure 8 ), direct hose connections for transferring a negative pressure to the suction heads 6 can be dispensed with.

Figure 7 FIG. 14 shows a schematic perspective view of the central flange section 4 of the embodiment from FIG Figure 6 . Also the central flange section 4 from Figure 7 has its own output 17 for each of the cantilever arms 3 or hollow tubes 5, of which in Figure 7 two outputs 17 can be seen. The negative pressure is passed on to the cantilever arms 3 via the outlets 17 and transferred to the individual suction heads 6 via the cantilever arms 3.

The central flange section 4 has openings 33 through which compressed air emerges from the central flange section 4. A thread 27 is assigned to each opening 33. A respective silencer can be screwed onto the central flange section 4 via the thread 27 in order to reduce a noise level of the via the Connection 12 to reduce compressed air introduced into the central flange section 4. The line system 15 (cf. Figure 8 ) sets the connection 12 and the openings 33 fluidically in connection. For the sake of clarity, the corresponding silencers, which can be fastened to the central flange section 4 by means of the thread 27, are not shown in the figures of the present patent application. The threads 27 and the openings 33 can be produced together with the central flange section in a three-dimensional printing process.

Figure 8 FIG. 11 shows a schematic sectional illustration through the central flange section 4 from FIG Figure 7 . A vacuum generating device 30, which is designed as a component of the line system 15, can be seen. By means of the vacuum generating device 30, a vacuum can be built up in the line system 15 by means of the Venturi effect, which is transmitted to the suction heads 6 via the outputs 17. For this purpose, compressed air is introduced into the line system 15 via the connection 12, which air passes through the negative pressure generating device 30 and emerges from the central flange section 4 via the openings 33. Each opening 33 has its own thread 27, via which a respective silencer can be screwed onto the central flange section 4.

Practice has shown that the vacuum generating device 30 can be subject to wear, particularly at a high clock frequency. The negative pressure generating device 30 of the exemplary embodiment comprises a central flange section 4 Figure 8 is therefore designed to be exchangeable or as a detachable component of the central flange section 4. If the vacuum generating device 30 is subject to wear, it can be removed from the central flange section 4 via the respective opening 33 and / or the outlet 17. A further negative pressure generating device 30 can subsequently be pushed or inserted into the central flange section 4 via the opening 33 or via the outlet 17.

Figure 9 shows a sectional view through a further central flange section 4, as it can be provided for various embodiments of a handling device 1 according to the invention. The central flange section 4 according to Figure 9 can be produced in a three-dimensional printing process or produced by sintering. Just like the embodiment from Figure 8 the central flange portion 4 of the embodiment has Figure 9 a connection 12, four outputs 17, via which a negative pressure can be passed on to the suction heads 6, and a Line system 15. Furthermore, two openings 33 which are fluidically connected to the line system 15 and via which compressed air can be fed out of the central flange section 4. A thread 27 is assigned to each opening 33 in order to fix a respective silencer on the central flange section 4.

The vacuum generating device 30 is firmly connected to the central flange section 4 and is produced together with the central flange section 4 in a three-dimensional printing process or by means of sintering. Venturi nozzles 25 can be seen as part of the negative pressure generating devices 30 in order to generate a negative pressure in each case from an overpressure introduced into the line system 15 through the connection 12. The vacuum generating devices 30 or the Venturi nozzles 25 are designed as a non-detachable component of the central flange section 4.

The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or changes can be made to the invention without departing from the scope of protection of the claims below.

List of reference symbols

1

Handling device

3

Cantilever arm

5

Hollow tube

6th

Suction head

7th

suspension

9

Support column

11

inlet

12th

connection

15th

Piping system

16

branch

17th

exit

18th

Tactile stick

19th

silencer

21

link

25th

Venturi nozzle

27

thread

30th

Vacuum generating device

33

opening

α

acute angle

Claims (11)

1. A handling device (1) for picking up flat objects, comprising

   - several cantilever arms (3) each comprising at least one suction head (6) for gripping the flat object and

   - a central flange section (4) from which the plurality of cantilever arms (3) extends in different directions and which provides a supporting function for the plurality of cantilever arms (3),

   wherein the central flange section (4) has a conduit system (15) as well as a connection (12), which is opening into the conduit system (15), which conduit system (15) is in fluidic communication with the suction heads (6) of the plurality of cantilever arms (3) for transmitting a negative pressure to the suction heads (6), characterized in that
   the conduit system (15) has one or more branches, each with a respective cross-sectional narrowing for generating the negative pressure by means of Venturi effect, which is built up by a positive pressure introduced into the conduit system (15) via the connection (12), and wherein
   the central flange section (4) and its conduit system (15) are manufactured by means of a three-dimensional printing principle.
2. The handling device according to claim 1, wherein the plurality of cantilever arms (3) is manufactured by means of a three-dimensional printing principle.
3. The handling device according to claim 1 or claim 2, in which a suspension (7) designed as a support column (9) is coupled to the central flange section (4).
4. The handling device according to one or more of claims 1 to 3, in which each of the plurality of cantilever arms (3) form a hollow shaft, via which hollow shaft the conduit system (15) is in fluidic communication with the at least one suction head (6) of the respective cantilever arm (3) for transmitting the negative pressure.
5. The handling device according to claim 4, wherein at least one region is formed within the respective hollow shaft of each one or more cantilever arms, within which region an opening cross-section is reduced.
6. The handling device according to one or more of claims 1 to 5, in which the suction heads each comprise at least one flexible suction bag, wherein the longitudinal extensions of at least two suction bags are being designed differently.
7. The handling device according to one or more of claims 1 to 4, wherein the longitudinal axes of at least two cantilever arms (3) enclose an acute angle (a) with each other.
8. The handling device according to one or more of claims 1 to 5, wherein the plurality of cantilever arms (3) is arranged on the central flange section (4) hanging and facing in a downward direction and/or rising and facing in an upward direction.
9. The handling device according to one or more of claims 1 to 8, wherein the central flange section (4) has a connection (12), which is opening into the conduit system (15), wherein a negative pressure can be jointly transmitted to the suction heads (6) of the plurality of cantilever arms via the one connection (12) which is being operatively connected to the conduit system (15), wherein it is preferably provided that a compressed air generating device is coupled to the one connection (12) opening into the conduit system (15).
10. The handling device according to one or more of claims 1 to 9, in which the conduit system (15) is in fluidic communication with one or more silencers (19) for reducing a noise level when a negative pressure is transmitted to the suction heads (6) and in which it is preferably provided that
    one silencer (19) or several silencers (19) are formed as an integral part of the central flange section and/or in which it is preferably provided that
    one or more silencers (19) are removably held on the central flange section (4).
11. The handling device according to one or more of claims 1 to 10, wherein the central flange section (4) has one or more inlets (11) through which compressed air can be introduced into the conduit system (15) to relieve the negative pressure at the suction heads (6).

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